Video processor module for vehicle

ABSTRACT

A video processor module for a vehicle includes a plurality of video interfaces, each configured for wired connection to a respective camera of a plurality of cameras. The video processor module receives and processes image data provided by the cameras. The plurality of interfaces include interfaces for wired connection to the cameras and for receiving image data from the cameras. The video processor module communicates with other vehicle systems via a vehicle bus. The video processor module may electronically reduce distortion in captured image data. The video processor module may merge captured image data to provide a panoramic view image that is output to a video display screen. The video processor module may receive radar data sensed by a radar sensor of the vehicle, and may, responsive at least in part to processing of image data and radar data, detect at least one other vehicle present exterior of the vehicle.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.15/830,115, filed Dec. 4, 2017, now U.S. Pat. No. 10,046,702, which is acontinuation of U.S. patent application Ser. No. 15/599,583, filed May19, 2017, now U.S. Pat. No. 9,834,142, which is a continuation of U.S.patent application Ser. No. 15/180,645, filed Jun. 13, 2016, now U.S.Pat. No. 9,656,608, which is a continuation of U.S. patent applicationSer. No. 14/942,087, filed Nov. 16, 2015, now U.S. Pat. No. 9,376,060,which is a continuation of U.S. patent application Ser. No. 13/800,677,filed Mar. 13, 2013, now U.S. Pat. No. 9,191,574, which is acontinuation of U.S. patent application Ser. No. 12/708,079, filed Feb.18, 2010, now U.S. Pat. No. 8,405,725, which is a continuation of U.S.patent application Ser. No. 10/209,181, filed Jul. 31, 2002, now U.S.Pat. No. 7,697,027, which claims priority from U.S. provisional patentapplication Ser. No. 60/309,023, filed on Jul. 31, 2001, the disclosureof which is hereby incorporated herein by reference in its entirety.

FIELD OF THE INVENTION

This invention is directed to a video processor made for a vehicularvideo system and, more particularly, to a single electronic module whichprocesses images from multiple image capture devices, such as CMOS videocameras, mounted throughout the interior and/or exterior of a vehicle,such as an automobile.

BACKGROUND THE INVENTION

It is known to use multiple video cameras on a vehicle to capture imagesboth interior to the vehicle and exterior to the vehicle. It is alsoknown to process the image outputs of such cameras by a variety ofcontrols in order to display said images to a driver or another occupantof the vehicle, or to utilize the output of a camera in order togenerate a control signal for a vehicular accessory, such as a headlampor windshield wiper. As the number and complexity of camera-basedaccessories and features grows in a vehicle, there is a need toeconomically and efficiently process the multiple outputs from aplurality of camera and other sensors in order to perform a plurality ofimage displays and control functions.

SUMMARY OF THE INVENTION

The present invention is directed to a Video Processor Module (VPM) thatis adapted to accept input from several vehicular cameras and optionallyfrom other non-video devices and sensors in or on the vehicle and toprocess the image outputs therefrom in order to provide a variety offunctions and controls. The VPM is preferably further adapted tointerface with other vehicle modules via interfaces to the vehiclecommunication buses, such as via a CAN bus and/or a LIN bus.

A vehicle-based video processor module for a video system of a vehicle,according to an aspect of the invention, includes a video processorcircuit, a plurality of electronic sensor interfaces that are operableto receive image output data from a plurality of imaging devices and atleast one electronic vehicle interface that is operable to communicatewith a vehicle communication bus. The video processor circuit isoperable to process the image output data from the plurality of imagingdevices into a single database in a standard format.

A vehicle-based video processor module for a video system of a vehicle,according to an aspect of the invention, includes a video processorcircuit, a plurality of electronic sensor interfaces that are operableto receive image output data from a plurality of imaging devices and atleast one electronic vehicle interface that is operable to communicatewith a vehicle communication bus. The video processor circuit isoperable to process the image output data from the plurality of imagingdevices and to enhance the image output data.

These and other objects, advantages and features of this invention willbecome apparent upon review of the following specification inconjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a top plan view of a vehicle outfitted with a vehicular videosystem, according to the invention; and

FIG. 2 is a block diagram of a video processor module, according to theinvention.

DESCRIPTION OF THE PREFERRED EMBODIMENT

Referring now to the drawings and the illustrative embodiments depictedtherein, a vehicle 10 is illustrated in FIG. 1 having a vehicular videosystem 12, according to the invention. Vehicular video system 12includes video processor module (VPM) 14, which receives input from aplurality of sensors, generally shown at 16. VPM 14 processes the outputdata from the plurality of devices and enhances the image output data.Sensors 16 may be imaging devices, such as vehicular cameras, as well asnon-imaging devices. An example of a mix of sensors 16 that may be usedin vehicular video system 12 includes imaging sensors, forward-facingimaging sensors, rearward-facing imaging sensors, left-side-facingimaging sensors, right-side-imaging sensors, inward-facing cabin-imagingsensors, and the like. Non-video sensors may include a near infraredsensor, a far infrared sensor, a radar sensor such as a Doppler radarsensor, a sonar sensor, a thermal sensor, a night vision sensor such asa multi-pixel bolometer and any other sensors which establish thepresence, distance to, position and/or speed of an object. A Dopplerradar sensor or side-facing camera may be mounted at an exterior mirrorassembly. A forward-facing camera may be mounted at an interior mirrorassembly of the vehicle that performs a headlamp control and/orwindshield wiper control function. A side lane blind spot and/or lanechange system may be provided and the VPM may be adapted to accept datafrom a variety of other non-video sensors to enhance performance in allvisibility situations, such as when driving in fog or other lowvisibility conditions.

Video processor module 14 includes a video processor circuit 18 and aplurality of electronic sensor interfaces 20 for receiving data from aplurality of sensors 16. In the embodiment illustrated in FIG. 2,electronic interfaces 20 are illustrated as receiving image data outputrespectively from right-hand-facing and left-hand-facing side cameras, afront-facing camera and a rear-facing camera. The image data may betransmitted across a robust transmission means, such as a fiber-opticcable or a high-density wireless link, or the like. However, electronicinterfaces 20 are capable of receiving data from non-imaging sensors aswell. Electronic interfaces 20 may be utilized, J1394 Firewire protocol,NTSC protocol, or other standard protocol. Video processor module 14includes at least one electronic vehicle interface 22 which is operativeto interface with a vehicle bus, such as a CAN bus, a LIN bus, or thelike.

Video processor circuit 18 includes a core 26 to exchange data withelectronic sensor interfaces 20, and a core 28 to exchange data withelectronic vehicle interfaces 22. A memory device 24 stores various datasuch as settings. Video processor circuit 18 includes a camera selectionand advanced camera control section 30 for controlling the individualsensor devices and for integrating data from the plurality of sensors,such as by fusing or combining image data from multiple imaging sensorsand data from non-imaging sensors. This combined or fused data ispreprocessed into a single database in a standard format. Videoprocessor circuit 18 further includes an object-tracking section 32 fortracking objects that are identified and classified by an objectclassification section 34. Video processor circuit 18 further includes adisplay section 36 which generates on-screen display signals and adiagnostic section 35 for performing diagnostics.

Having described the components of vehicular video system 12 and theiroperation, examples of various functions that can be supported with thisvehicular video system will be set forth. One set of functions includesfeatures for viewing of a displayed image. Video processor module 14 maybe capable of merging of images from a plurality of imaging sensors 16to provide a panoramic view, which exceeds the field of view of a singlecamera or allows the image to “wrap” around the vehicle. Video processormodule 14 may be further capable of electronic elimination ofdistortions created by wide-angle lenses used with sensors 16. Videoprocessor module 14 may be capable of superimposing graphics onto adisplayed image to provide additional information to the observer.

Another set of functions includes features for sensing using anelectronic image. Video processor module 14 may be programmed to becapable of detection with object position, speed and classification tosupport one or more of the following features:

-   -   Blind spot detection    -   Lane change aid    -   Adaptive speed control    -   Reverse aid warning    -   Advanced crash warning        Video processor module 14 may be programmed to be capable of        detecting the location of a lane on a road in conjunction with        an imaging sensor 16. This capability can support a lane        departure-warning feature or autonomous vehicle control. Video        processor module 14 may use imaging sensors to establish ambient        lighting and detect other vehicles for automatic control of the        headlamps (on/off) and high/low beams. Video processor module 14        may have the capability to use imaging sensors to establish        ambient lighting and vehicle headlamps for automatic control of        electrochromic mirrors. Video processor module 14 may have the        capability to detect the presence, position and size of        occupants inside the vehicle. Video processor module 14 may have        the capability to stabilize an image for viewing or use in        sensing algorithms. It should be understood that the listed        features and functions are illustrative only. Which of the        particular ones that are used for a particular vehicular        application may differ from those used for other vehicular        applications. Additionally, other features and functions may be        identified for video processor module 14 by the skilled artisan.

VPM 14 can be utilized in a variety of applications such as disclosed incommonly assigned U.S. Pat. Nos. 5,670,935; 5,949,331; 6,222,447;6,201,642; 6,097,023; 5,715,093; 5,796,094 and 5,877,897 and commonlyassigned patent applications, Ser. No. 09/793,002 filed Feb. 26, 2001,now U.S. Pat. No. 6,690,268, Ser. No. 09/372,915, filed Aug. 12, 1999,now U.S. Pat. No. 6,396,397, Ser. No. 09/767,939, filed Jan. 23, 2001,now U.S. Pat. No. 6,590,719, Ser. No. 09/776,625, filed Feb. 5, 2001,now U.S. Pat. No. 6,611,202, Ser. No. 09/799,993, filed Mar. 6, 2001,now U.S. Pat. No. 6,538,827, Ser. No. 09/493,522, filed Jan. 28, 2000,now U.S. Pat. No. 6,426,492, Ser. No. 09/199,907, filed Nov. 25, 1998,now U.S. Pat. No. 6,717,610, Ser. No. 08/952,026, filed Nov. 19, 1997,now U.S. Pat. No. 6,498,620, and Ser. No. 09/227,344, filed Jan. 8,1999, now U.S. Pat. No. 6,302,545, International Publication No. WO96/38319, published Dec. 5, 1996, and International Publication No. WO99/23828, published May 14, 1999, the disclosures of which arecollectively incorporated herein by reference.

For example, VPM 14 can be utilized in a vehicle equipped with a sideobject detection system utilizing stereoscopic imaging from cameraslocated in the driver-side exterior mirror assembly and/or in thepassenger-side exterior mirror assembly, such as is described incommonly assigned patent application Ser. No. 09/372,915, filed Aug. 12,1999, now U.S. Pat. No. 6,396,397, the disclosure of which is herebyincorporated herein by reference, and further equipped with a CMOScamera-based headlamp controller as disclosed in commonly assigned U.S.Pat. Nos. 5,796,094 and 6,097,023, the disclosures of which are herebyincorporated herein by reference, and with the various image outputsbeing processed by the VPM. In this regard, should the vehicle beequipped with high intensity discharge (HID)/gas discharge headlamps (asknown in the automotive lighting art), then the VPM can receive theoutput signal from a forward-facing CMOS camera (preferably mounted ator in the interior rearview mirror assembly and viewing oncomingheadlights of approaching vehicles through the front windshield of thevehicle) and the VPM can control the intensity and/or direction of thelight beam output from the HID headlamps as a function of the lightlevel of the oncoming approaching headlamps as detected by the interiorrearview mirror located forward-facing multipixel CMOS camera-on-a-chiplight detector. Preferably, the intensity of the light beam output bythe vehicle's HID lamps is inversely proportional to the intensity ofthe detected oncoming headlamps and, most preferably, the intensity ofthe HID headlamps is continuously variable inversely proportional to theintensity of the oncoming headlight intensity of approaching vehicles asdetected by the forward-facing CMOS camera.

Further, and preferably, the vehicle may be equipped with a mobilecellular phone that is docked into a cell phone cradle system (such asin the CellPort 3000 system available from Cellport Systems Inc. ofBoulder, Colo.) to allow a driver to conduct a hands-free telephone callwhen driving, and to provide the driver the option of undocking thecellular phone as desired in order to use the cellular phone, forexample, when the driver departs the vehicle. The cell phone cradlesystem can include a sound-processing system (preferably including amicrophone or microphone array, and such as is disclosed in commonlyassigned patent application Ser. No. 09/466,010, filed Dec. 17, 1999,now U.S. Pat. No. 6,420,975, the disclosure of which is herebyincorporated herein by reference, and other accessories, and with thecell cradle providing outputs at least partially processed by the VPM.

The vehicle may also be equipped with a navigational system, such as aglobal positioning system, and with controls and/or functions of saidnavigational system being at least partially processed by VPM 14. For avehicle equipped with a GPS system and with a cell phone cradle (such asthe CellPort 3000 system), a control input can be provided in theinterior of the vehicle (such as at or on the interior mirror assembly)and/or a voice command control system can be provided whereby when thecontrol input and/or voice command is actuated, a call is initiated toan external service (such as an emergency service of a concierge serviceor an information service) located remote from the vehicle and whereinthe location of the vehicle (as generated by the vehicular navigationalsystem) is automatically transmitted to the external service so that theexternal service can know the location of the vehicle and so provideassistance, advice and/or directions, and the like, to the driver ofthat vehicle. Such communication of geographic positional data can betransmitted by telecommunication via a phone network (such as Sprint orMCI or ATT, or the like) in a voice-over-data format allowing the driverto have a conversation with the service provider (and/or with anotherparty) concurrent with the transmission of the vehicle locationinformation to the service provider via telephonic linkage via thedocked cell phone (or, optionally, via a BLUETOOTH or similarshort-range RF wireless link between a cellular phone in, for example,the pocket of a driver and a cell phonelinking/telecommunication/telematic station located, for example, at aninterior rearview mirror assembly of the vehicle or in a dashboard orconsole area of the vehicle) to the external service provider.Preferably, at least some of such processing is handled by VPM 14 and,in particular, when videoconferencing is used.

The present invention can be used in a lane change aid system such asdisclosed in a commonly assigned provisional patent application Ser. No.60/309,022 filed Jul. 31, 2001, and a utility patent application filedconcurrently herewith by Schofield for an AUTOMOTIVE LANE CHANGE AID,now U.S. Pat. No. 6,882,287, the disclosures of which are herebyincorporated herein by reference.

Also, a night vision system camera (such as an infrared detectingmicrobolometer night vision camera or a CMOS/near-IR detecting cameraused in conjunction with a near-IR laser source for illumination forwardof the vehicle) and an intelligent headlamp controller (such as aforward-facing CMOS video camera that automatically detects approachingvehicles and that dims the headlights of the host vehicle in response)can have their outputs combined/fused in accordance with the presentinvention to identify objects hazardous to the driver, such as a deercrossing the road ahead of the vehicle as the vehicle travels down adark road at night. The control can, in response, automatically activateone or both existing headlamps, for example, to flash them or to movefrom a low-beam state to a high-beam state or to activate an additionalheadlamp or fog lamp or to adjust headlamps to high beam so that theobject may be illuminated for the driver. Current night vision systemsmay either provide too much information for the driver to usefullyassimilate or may distract him/her from attention to the road. The abovecombination achieved via the fusion system of the present inventionallows use of the night vision system/intelligent headlamp controller toautomatically provide extra forward illumination at the time requiredfor the driver to take action to avoid a problem, which is the realintent behind the night vision system in the first place. The fusion ofthese inputs into a single processor achieves optimized nighttimedriving safety. Note that a single forward-facing camera can performboth the night vision and intelligent headlamp control functions.

VPM 14 may receive both wired inputs and wireless inputs. For example, arestricted-range RF wireless communication device such as a BLUETOOTHdevice (housed, for example within an inside mirror or housed elsewherein the interior cabin such as in an overhead console or afacia/instrumentation panel) can be used as a convenient channellocation for the programming or reprogramming of various types ofradio-frequency (RF) devices in a vehicle and/or to facilitate the useof RF as a means to program or reprogram non-RF devices to providedrivers with a more complete personalization of a vehicle (e.g.,trainable garage door open, memory seat/mirror position, outside mirrorposition, etc.). This can be used in, for example, rental cars where anRF signal can be provided (such as via an RF transmitter located in theinterior mirror assembly or in a windshield electronic accessory module)from a personal display assistant device (PDA) such as a Palm Pilot® PDAand thus provide a driver with immediate personalization to includetemperature/climate control, radio setting, exterior mirror reflectorposition and other preferences.

In accordance with U.S. Pat. Nos. 5,949,331 and 6,222,447, incorporatedby reference above, a display system of the equipped vehicle displays asynthesized image that visually informs the driver of what is occurringin the area surrounding the equipped vehicle. The displayed image issynthesized from the camera outputs and, preferably, approximates asubstantially seamless panoramic view as would be viewed by a singlevirtual camera located exterior the equipped vehicle.

Changes and modifications in the specifically described embodiments canbe carried out without departing from the principles of the invention,which is intended to be limited only by the scope of the appendedclaims, as interpreted according to the principles of patent lawincluding the doctrine of equivalents.

The embodiments of the invention in which an exclusive property orprivilege is claimed are defined as follows:
 1. A video processor modulesuitable for use in a vehicle, said video processor module comprising: aplurality of video interfaces; each configured for wired connection to arespective camera of a plurality of cameras disposed at a vehicleequipped with said video processor module; wherein, with said videoprocessor module disposed at the equipped vehicle, image data capturedby each camera of the plurality of cameras disposed at the equippedvehicle is provided to said video processor module via the respectivevideo interface that camera is in wired connection with; a dataprocessor operable to process image data captured by cameras of theplurality of cameras; a power supply; memory; wherein, with said videoprocessor module disposed at the equipped vehicle, said video processormodule receives and said data processor processes image data provided bycameras of the plurality of cameras disposed at the equipped vehicle;wherein the plurality of cameras comprises at least four vehicularcameras; wherein the at least four vehicular cameras comprises a firstvehicular camera disposed at a driver-side exterior portion of theequipped vehicle; wherein the at least four vehicular cameras comprisesa second vehicular camera disposed at a passenger-side exterior portionof the equipped vehicle, wherein the at least four vehicular camerascomprises a third vehicular camera disposed at a rear exterior portionof the equipped vehicle; wherein the at least four vehicular camerascomprises a fourth vehicular camera disposed at a front exterior portionof the equipped vehicle; wherein the first vehicular camera has a wideangle lens and a first field of view exterior of the equipped vehicle,and wherein the first vehicular camera is operable to capture firstimage data; wherein the second vehicular camera has a wide angle lensand a second field of view exterior of the equipped vehicle, and whereinthe second vehicular camera is operable to capture second image data;wherein the third vehicular camera has a wide angle lens and a thirdfield of view exterior of the equipped vehicle, and wherein the thirdvehicular camera is operable to capture third image data; wherein thefourth vehicular camera has a wide angle lens and a fourth field of viewexterior of the equipped vehicle, and wherein the fourth vehicularcamera is operable to capture fourth image data; wherein said pluralityof interfaces of said video processor module comprises a first interfacefor wired connection to the first vehicular camera and for receivingfirst image data from the first vehicular camera when said videoprocessor module is disposed at the equipped vehicle; wherein saidplurality of interfaces of said video processor module comprises asecond interface for wired connection to the second vehicular camera andfor receiving second image data from the second vehicular camera whensaid video processor module is disposed at the equipped vehicle; whereinsaid plurality of interfaces of said video processor module, comprises athird interface for wired connection to the third vehicular camera andfor receiving third image data from the third vehicular camera when saidvideo processor module is disposed at the equipped vehicle; wherein saidplurality of interfaces of said video processor module comprises afourth interface for wired connection to the fourth vehicular camera andfor receiving fourth image data from the fourth vehicular camera whensaid video processor module is disposed at the equipped vehicle;wherein, with said video processor module disposed at the equippedvehicle, said video processor module receives first image data capturedby the first vehicular camera at said first interface; wherein, withsaid video processor module disposed at the equipped vehicle, said videoprocessor module receives second image data captured by the secondvehicular camera at said second interface, wherein, with said videoprocessor module disposed at the equipped vehicle, said video processormodule receives third image data captured by the third vehicular cameraat said third interface; wherein, with said video processor moduledisposed at the equipped vehicle, said video processor module receivesfourth image data captured by the fourth vehicular camera at said fourthinterface; wherein, with said video processor nodule disposed at theequipped vehicle, said video processor module communicates with othervehicle systems via a vehicle bus of the equipped vehicle; wherein, withsaid video processor module disposed at the equipped vehicle, said videoprocessor module electronically reduces distortion in first, second,third and fourth image data captured by the first; second, third andfourth vehicular cameras, respectively; wherein, with said videoprocessor module disposed at the equipped vehicle, and responsive atleast in part to processing of first, second, third and fourth imagedata at said video processor module, said video processor module isoperable to merge image data captured by at least the first, second andfourth vehicular cameras to provide a panoramic view image that isoutput by said video processor module to a video display screen of adisplay system of the equipped vehicle to visually inform a driver ofthe equipped vehicle of what is occurring in the area surrounding theequipped vehicle as would be viewed by a single virtual camera locatedexterior the equipped vehicle; and wherein said video processor moduleis operable to generate on-screen displays, said on-screen displayscomprising a graphic overlay output by said video processor module forsuperimposition onto images displayed at the video display screen of thedisplay system of the equipped vehicle, the superimposed graphic overlayproviding additional information to the driver of the equipped vehicle.2. The video processor module of claim 1, wherein, with said videoprocessor module disposed at the equipped vehicle; and responsive atleast in part to processing by said data processor of said videoprocessor module of image data captured by at least one of the first,second, third and fourth vehicular cameras, at least one object presentexterior of the equipped vehicle is detected.
 3. The video processormodule of claim 1, wherein, with said video processor module disposed atthe equipped vehicle, said video processor module superimposes thegraphic overlay onto the panoramic view image output by said videoprocessor module to the video display screen of the display system ofthe equipped vehicle.
 4. The video processor module of claim 1, whereinsaid video processor module comprises a video processor chip.
 5. Thevideo processor module of claim 1, wherein, with said video processormodule disposed at the equipped vehicle, and responsive at least in partto processing by said data processor of said video processor module, ofimage data captured by at least one of the first, second, third andfourth vehicular cameras, at least one other vehicle present exterior ofthe equipped vehicle is detected, and wherein the at least one othervehicle detected present exterior of the equipped vehicle is tracked. 6.The video processor module of claim 1, wherein, with said videoprocessor module disposed at the equipped vehicle, said video processormodule receives first image data captured by the first vehicular cameraat said first interface via a vehicle bus of the equipped vehicle, andwherein, with said video processor module disposed at the equippedvehicle, said video processor module receives second image data capturedby the second vehicular camera at said second interface via a vehiclebus of the equipped vehicle, and wherein, with said video processormodule disposed at the equipped vehicle, said video processor modulereceives third image data captured by the third vehicular camera at saidthird interface via a vehicle bus of the equipped vehicle, and wherein,with said video processor module, disposed at the equipped vehicle, saidvideo processor module receives fourth image data captured by the fourthvehicular camera at said fourth interface via a vehicle, bus of theequipped vehicle.
 7. The video processor module of claim 1, wherein thefirst vehicular camera is disposed at a driver-side exterior mirrorassembly at a driver side of the equipped vehicle, and wherein thesecond vehicular camera is disposed at a passenger-side exterior mirrorassembly at a passenger side of the equipped vehicle.
 8. The videoprocessor module of claim 7, wherein, with said video processor moduledisposed at the equipped vehicle, said video processor modulecommunicates with other vehicle systems via a CAN vehicle bus of theequipped vehicle.
 9. The video processor module of claim 8, wherein saidvideo processor module comprises a video processor chip.
 10. The videoprocessor module of claim 1, wherein the third vehicular camera disposedat the rear exterior portion of the equipped vehicle is located at orproximate to a longitudinal centerline of the equipped vehicle, andwherein the fourth vehicular camera disposed at the front exteriorportion of the equipped vehicle is located at or proximate to thelongitudinal centerline of the equipped vehicle.
 11. The video processormodule of claim 1, wherein, with said video processor module disposed atthe equipped vehicle, said video processor module receives and processesdata derived from a global positioning system, and wherein, responsiveat least in part to processing of data derived from the globalpositioning system, location of the equipped vehicle is wirelesslytransmitted to an external receiver remote from the equipped vehicle.12. The video processor module of claim 11, wherein data processing atsaid video processor module comprises performance of diagnostics. 13.The video processor module of claim 1, wherein the at least fourvehicular cameras comprises a fifth vehicular camera disposed at anin-cabin side of a windshield of the equipped vehicle and viewingforwardly through the windshield of the equipped vehicle, and whereinthe fifth vehicular camera has a fifth field of view exterior of theequipped vehicle and is operable to capture fifth image data, andwherein said video processor module comprises a fifth interface forwired connection to the fifth vehicular camera and for receiving fifthimage data from the fifth vehicular camera, and wherein, with said videoprocessor module disposed at the equipped vehicle, said video processormodule receives fifth image data captured by the fifth vehicular cameraat said fifth interface.
 14. The video processor module of claim 13,wherein, with said video processor module disposed at the equippedvehicle, and responsive at least in part to processing at said videoprocessor module of image data captured by the fifth vehicular camera,another vehicle present exterior of the equipped vehicle is detected.15. The video processor module of claim 14, wherein, responsive at leastin part to the detection of the other vehicle present exterior of theequipped vehicle, a state of headlamps of the equipped vehicle iscontrolled.
 16. The video processor module of claim 14, wherein, withsaid video processor module disposed at the equipped vehicle, andresponsive at least in part to processing at said video processor moduleof image data captured by the fifth vehicular camera, a traffic lane ona road along which the equipped vehicle is travelling is detected. 17.The video processor module of claim 13, wherein said video processormodule comprises a radar sensor interface configured for receiving radardata sensed by a radar sensor of the equipped vehicle, and wherein, withsaid video processor module disposed at the equipped vehicle, said videoprocessor module receives radar data sensed by the radar sensor of theequipped vehicle.
 18. The video processor module of claim 17, wherein,with said video processor module disposed at the equipped vehicle, andresponsive at least in part to processing of image data and radar dataat said video processor module, speed of the equipped vehicle iscontrolled.
 19. The video processor module of claim 17, wherein, withsaid video processor module disposed at the equipped vehicle, andresponsive at least in part to processing of image data and radar dataat said video processor module, said video processor module at least inpart controls an adaptive speed control system of the equipped vehicleis controlled.
 20. The video processor module of claim 13, wherein saidvideo processor module is operable to wirelessly communicate with aremote receiver.
 21. The video processor module of claim 1, whereinmemory of said video processor module comprises flash memory.
 22. Avideo processor module suitable for use in a vehicle, said videoprocessor module comprising: a plurality of video interfaces, eachconfigured for wired connection to a respective camera of a plurality ofcameras disposed at a vehicle equipped with said video processor module;wherein, with said video processor module disposed at the equippedvehicle, image data captured by each camera of the plurality of camerasdisposed at the equipped vehicle is provided to said video processormodule via the respective video interface that camera is in wiredconnection with; a data processor operable to process image datacaptured by cameras of the plurality of cameras; a power supply; memory;wherein, with said video processor module disposed at the equippedvehicle, said video processor module receives and said data processorprocesses image data provided by cameras of the plurality of camerasdisposed at the equipped vehicle; wherein the plurality of camerascomprises at least four vehicular cameras; wherein the at least fourvehicular cameras comprises a first vehicular camera disposed at adriver-side exterior portion of the equipped vehicle; wherein the atleast four vehicular cameras comprises a second vehicular cameradisposed at a passenger-side exterior portion of the equipped vehicle;wherein the at least four vehicular cameras comprises a third vehicularcamera disposed at a rear exterior portion of the equipped vehicle;wherein the at least four vehicular cameras comprises a fourth vehicularcamera disposed at an in-cabin side of a windshield of the equippedvehicle and viewing forwardly through the windshield of the equippedvehicle; wherein the first vehicular camera has a wide angle lens and afirst field of view exterior of the equipped vehicle, and wherein thefirst vehicular camera is operable to capture first image data; whereinthe second vehicular camera has a wide angle lens and a second field ofview exterior of the equipped vehicle, and wherein the second vehicularcamera is operable to capture second image data; wherein the thirdvehicular camera has a wide angle lens and a third field of viewexterior of the equipped vehicle, and wherein the third vehicular camerais operable to capture third image data; wherein the fourth vehicularcamera has a fourth field of view exterior of the equipped vehicle, andwherein the fourth vehicular camera is operable to capture fourth imagedata; wherein said plurality of interfaces of said video processormodule comprises a first interface for wired connection to the firstvehicular camera and for receiving first image data from the firstvehicular camera when said video processor module is disposed at theequipped vehicle; wherein said plurality of interfaces of said videoprocessor module comprises a second interface for wired connection tothe second vehicular camera and for receiving second image data from thesecond vehicular camera when said video processor module is disposed atthe equipped vehicle; wherein said plurality of interfaces of said videoprocessor module comprises a third interface for wired connection to thethird vehicular camera and for receiving third image data from the thirdvehicular camera when said video processor module is disposed at theequipped vehicle; wherein said plurality of interfaces of said videoprocessor module comprises a fourth interface for wired connection tothe fourth vehicular camera and for receiving fourth image data from thefourth vehicular camera when said video processor module is disposed atthe equipped vehicle; wherein said video processor module comprises aradar sensor interface configured for receiving radar data sensed by aradar sensor of the equipped vehicle; wherein, with said video processormodule disposed at the equipped vehicle, said video processor modulereceives first image data captured by the first vehicular camera at saidfirst interface; wherein, with said video processor module disposed atthe equipped vehicle, said video processor module receives second imagedata captured by the second vehicular camera at said second interface;wherein, with said video processor nodule disposed at the equippedvehicle, said video processor module receives third image data capturedby the third vehicular camera at said third interface; wherein, withsaid video processor module disposed at the equipped vehicle, said videoprocessor module receives fourth image data captured by the fourthvehicular camera at said fourth interface; wherein, with said videoprocessor module disposed at the equipped vehicle, said video processormodule receives radar data sensed by the radar sensor of the equippedvehicle; wherein, with said video processor nodule disposed at theequipped vehicle, said video processor module communicates with othervehicle systems via a vehicle bus of the equipped vehicle; and wherein,with said video processor module disposed at the equipped vehicle, andresponsive at least in part to processing of image data and radar dataat said video processor module, at least one other vehicle presentexterior of the equipped vehicle is detected.
 23. The video processormodule of claim 22, wherein said video processor module comprises avideo processor chip.
 24. The video processor module of claim 22,wherein, with said video processor module disposed at the equippedvehicle; and responsive at least in part to processing of image data andradar data at said video processor module, the at least one othervehicle detected present exterior of the equipped vehicle is tracked.25. The video processor module of claim 22, wherein, with said videoprocessor module disposed at the equipped vehicle, said video processormodule receives first image data captured by the first vehicular cameraat said first interface via a vehicle bus of the equipped vehicle, andwherein, with said video processor module disposed at the equippedvehicle, said video processor nodule receives second image data capturedby the second vehicular camera at said second interface via a vehiclebus of the equipped vehicle, and wherein, with said video processormodule disposed at the equipped vehicle, said video processor modulereceives third image data captured by the third vehicular camera at saidthird interface via a vehicle bus of the equipped vehicle, and wherein,with said video processor module disposed at the equipped vehicle, saidvideo processor module receives fourth image data captured by the fourthvehicular camera at said fourth interface via a vehicle bus of theequipped vehicle.
 26. The video processor module of claim 22, whereinthe first vehicular camera is disposed at a driver-side exterior mirrorassembly at a driver side of the equipped vehicle, and wherein thesecond vehicular camera is disposed at a passenger-side exterior mirrorassembly at a passenger side of the equipped vehicle.
 27. The videoprocessor module of claim 22, wherein, with said video processor moduledisposed at the equipped vehicle, said video processor modulecommunicates with other vehicle systems via a CAN vehicle bus of theequipped vehicle.
 28. The video processor module of claim 22, whereinthe third vehicular camera disposed at the rear exterior portion of theequipped vehicle is located at or proximate to a longitudinal centerlineof the equipped vehicle, and wherein the fourth vehicular cameradisposed at the in-cabin side of the windshield of the equipped vehicleis located at or proximate to the longitudinal centerline of theequipped vehicle.
 29. The video processor module of claim 22, wherein,with said video processor module disposed at the equipped vehicle, saidvideo processor module receives and processes data derived from a globalpositioning system, and wherein, responsive at least in part toprocessing of data derived from the global positioning system, locationof the equipped vehicle is wirelessly transmitted to an externalreceiver remote from the equipped vehicle.
 30. The video processormodule of claim 29, wherein data processing at said video processormodule comprises performance of diagnostics.
 31. The video processormodule of claim 22, wherein, with said video processor module disposedat the equipped vehicle, the at least one other vehicle present exteriorof the equipped vehicle is detected responsive at least in part toprocessing at said video processor module of image data captured by thefourth vehicular camera.
 32. The video processor module of claim 31,wherein, responsive at least in part to the detection of the at leastone other vehicle present exterior of the equipped vehicle, a state ofheadlamps of the equipped vehicle is controlled.
 33. The video processormodule of claim 31, wherein, with said video processor module disposedat the equipped vehicle, and responsive at least in part to processingat said video processor module of image data captured by the fourthvehicular camera, a lane on a road along which the equipped vehicle istravelling is detected.
 34. The video processor module of claim 22,wherein the at least four vehicular cameras comprises a fifth vehicularcamera disposed at a rear exterior portion of the equipped vehicle, andwherein the fifth vehicular camera has a fifth field of view exterior ofthe equipped vehicle and is operable to capture fifth image data, andwherein said video processor module comprises a fifth interface forwired connection to the fifth vehicular camera and for receiving fifthimage data from the fifth vehicular camera, and wherein, with said videoprocessor module disposed at the equipped vehicle, said video processormodule receives fifth image data captured by the fifth vehicular cameraat said fifth interface.
 35. The video processor module of claim 22,wherein, with said video processor module disposed at the equippedvehicle, and responsive at least in part to processing of image data andradar data at said video processor module, speed of the equipped vehicleis controlled.
 36. The video processor module of claim 22, wherein, withsaid video processor module disposed at the equipped vehicle, andresponsive at least in part to processing of image data and radar dataat said video processor module, said video processor module at least inpart controls an adaptive speed control system of the equipped vehicleis controlled.
 37. The video processor module of claim 22, wherein saidvideo processor module is operable to wirelessly communicate with aremote receiver.
 38. The video processor module of claim 22, whereinmemory of said video processor module comprises flash memory.
 39. Avideo processor module suitable for use in a vehicle, said videoprocessor module comprising: a plurality of video interfaces, eachconfigured for wired connection to a respective camera of a plurality ofcameras disposed at a vehicle equipped with said video processor module;wherein, with said video processor module disposed at the equippedvehicle, image data captured by each camera of the plurality of camerasdisposed at the equipped vehicle is provided to said video processormodule via the respective video interface that camera is in wiredconnection with; a data processor operable to process image datacaptured by cameras of the plurality of cameras; a power supply; memory;wherein, with said video processor module disposed at the equippedvehicle, said video processor module receives and said data processorprocesses image data provided by cameras of the plurality of camerasdisposed at the equipped vehicle; wherein the plurality of camerascomprises at least five vehicular cameras; wherein the at least fivevehicular cameras comprises a first vehicular camera disposed at adriver-side exterior portion of the equipped vehicle; wherein the atleast five vehicular cameras comprises a second vehicular cameradisposed at a passenger-side exterior portion of the equipped vehicle;wherein the at least five vehicular cameras comprises a third vehicularcamera disposed at a rear exterior portion of the equipped vehicle;wherein the at least five vehicular cameras comprises a fourth vehicularcamera disposed at a front exterior portion of the equipped vehicle;wherein the at least five vehicular cameras comprises a fifth vehicularcamera disposed at an in-cabin side of a windshield of the equippedvehicle and viewing forwardly through the windshield of the equippedvehicle; wherein the first vehicular camera has a wide angle lens and afirst field of view exterior of the equipped vehicle, and wherein thefirst vehicular camera is operable to capture first image data; whereinthe second vehicular camera has a wide angle lens and a second field ofview exterior of the equipped vehicle, and wherein the second vehicularcamera is operable to capture second image data; wherein the thirdvehicular camera has a wide angle lens and a third field of viewexterior of the equipped vehicle, and wherein the third vehicular camerais operable to capture third image data; wherein the fourth vehicularcamera has a wide angle lens and a fourth field of view exterior of theequipped vehicle, and wherein the fourth vehicular camera is operable tocapture fourth image data; wherein the fifth vehicular camera has afourth field of view exterior of the equipped vehicle, and wherein thefifth vehicular camera is operable to capture fifth image data; whereinsaid plurality of interfaces of said video processor module comprises afirst interface for wired connection to the first vehicular camera andfor receiving first image data from the first vehicular camera when saidvideo processor module is disposed at the equipped vehicle; wherein saidplurality of interfaces of said video processor module comprises asecond interface for wired connection to the second vehicular camera andfor receiving second image data from the second vehicular camera whensaid video processor module is disposed at the equipped vehicle; whereinsaid plurality of interfaces of said video processor module comprises athird interface for wired connection to the third vehicular camera andfor receiving third image data from the third vehicular camera when saidvideo processor module is disposed at the equipped vehicle; wherein saidplurality of interfaces of said video processor module comprises afourth interface for wired connection to the fourth vehicular camera andfor receiving fourth image data from the fourth vehicular camera whensaid video processor module is disposed at the equipped vehicle; whereinsaid plurality of interfaces of said video processor module comprises afifth interface for wired connection to the fifth vehicular camera andfor receiving fifth image data from the fifth vehicular camera when saidvideo processor module is disposed at the equipped vehicle; wherein saidvideo processor module comprises a radar sensor interface configured forreceiving radar data sensed by a radar sensor of the equipped vehicle;wherein, with said video processor module disposed at the equippedvehicle, said video processor module receives first image data capturedby the first vehicular camera at said first interface; wherein, withsaid video processor module disposed at the equipped vehicle, said videoprocessor module receives second image data captured by the secondvehicular camera at said second interface, wherein, with said videoprocessor module disposed at the equipped vehicle, said video processormodule receives third image data captured by the third vehicular cameraat said third interface; wherein, with said video processor moduledisposed at the equipped vehicle, said video processor module receivesfourth image data captured by the fourth vehicular camera at said fourthinterface; wherein, with said video processor module disposed at theequipped vehicle, said video processor module receives fifth image datacaptured by the fifth vehicular camera at said fifth interface; wherein,with said video processor module disposed at the equipped vehicle, saidvideo processor module receives radar data sensed by the radar sensor ofthe equipped vehicle; wherein, with said video processor module disposedat the equipped vehicle, said video processor module communicates withother vehicle systems via a vehicle bus of the equipped vehicle;wherein, with said video processor module disposed at the equippedvehicle, said video processor module electronically reduces distortionin first, second, third and fourth image data captured by the first,second, third and fourth vehicular cameras, respectively; wherein, withsaid video processor module disposed at the equipped vehicle, andresponsive at least in part to processing of first, second, third andfourth image data at said video processor module, said video processormodule is operable to merge image data captured by at least the first,second and fourth vehicular cameras to provide a panoramic view imagethat is output by said video processor module to a video display screenof a display system of the equipped vehicle to visually inform a driverof the equipped vehicle of what is occurring in the area surrounding theequipped vehicle as would be viewed by a single virtual camera locatedexterior the equipped vehicle; and wherein, with said video processormodule disposed at the equipped vehicle, and responsive at least in partto processing of image data and radar data at said video processormodule, at least one other vehicle, present exterior of the equippedvehicle is detected.
 40. The video processor module of claim 39,wherein, with said video processor module disposed at the equippedvehicle, and responsive at least in part to processing by said dataprocessor of said video processor module, of image data captured by atleast one of the first, second, third and fourth vehicular cameras, atleast one object present exterior of the equipped vehicle is detected.41. The video processor module of claim 39, wherein said video processormodule is operable to generate on-screen displays, said on-screendisplays comprising a graphic overlay output by said video processormodule for superimposition onto images displayed at the video displayscreen of the display system of the equipped vehicle, the superimposedgraphic overlay providing additional information to the driver of theequipped vehicle.
 42. The video processor module of claim 41, wherein,with said video processor module disposed at the equipped vehicle, saidvideo processor nodule superimposes the graphic overlay onto thepanoramic view image output by said video processor module to the videodisplay screen of the display system of the equipped vehicle.
 43. Thevideo processor module of claim 39, wherein said video processor modulecomprises a video processor chip.
 44. The video processor module ofclaim 39, wherein, with said video processor module disposed at theequipped vehicle, and responsive at least in part to processing of imagedata and radar data at said video processor module, the at least oneother vehicle detected present exterior of the equipped vehicle istracked.
 45. The video processor module of claim 39, wherein, with saidvideo processor module disposed at the equipped vehicle, the at leastone other vehicle present exterior of the equipped vehicle is detectedresponsive at least in part to processing at said video processor moduleof radar data and image data captured by the fifth vehicular camera. 46.The video processor module of claim 45, wherein, responsive at least inpart to the detection of the other vehicle present exterior of theequipped vehicle, a state of headlamps of the equipped vehicle iscontrolled.
 47. The video processor module of claim 45, wherein, withsaid video processor module disposed at the equipped vehicle, andresponsive at least in part to processing at said video processor moduleof image data captured by the fifth vehicular camera, a traffic lane ona road along which the equipped vehicle is travelling is detected. 48.The video processor module of claim 39, wherein, with said videoprocessor module disposed at the equipped vehicle, and responsive atleast in part to processing at said video processor module of radar dataand image data captured by the fifth vehicular camera, speed of theequipped vehicle is controlled.
 49. The video processor module of claim39, wherein, with said video processor module disposed at the equippedvehicle, and responsive at least in part to processing at said videoprocessor module of radar data and image data captured by the fifthvehicular camera, said video processor module at least in part controlsan adaptive speed control system of the equipped vehicle is controlled.50. The video processor module of claim 39, wherein said video processormodule is operable to wirelessly communicate with a remote receiver.